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<div class="title">base_edge.h</div>  </div>
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<a href="base__edge_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// g2o - General Graph Optimization</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, H. Strasdat, W. Burgard</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// All rights reserved.</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions are</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// met:</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// * Redistributions of source code must retain the above copyright notice,</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//   this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">// * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//   notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//   documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#ifndef G2O_BASE_EDGE_H</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#define G2O_BASE_EDGE_H</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#include &lt;limits&gt;</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="preprocessor">#include &lt;eigen3/Eigen/Core&gt;</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="optimizable__graph_8h.html">optimizable_graph.h</a>&quot;</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceg2o.html">g2o</a> {</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  <span class="keyword">using namespace </span><a class="code" href="namespace_eigen.html">Eigen</a>;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> D, <span class="keyword">typename</span> E&gt;</div><div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_edge.html">   42</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classg2o_1_1_base_edge.html">BaseEdge</a> : <span class="keyword">public</span> <a class="code" href="classg2o_1_1_optimizable_graph_1_1_edge.html">OptimizableGraph::Edge</a></div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  {</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;</div><div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_edge.html#ab4812acb21e0b9de80dc6d676e71cb70">   46</a></span>&#160;      <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> Dimension = D;</div><div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_edge.html#a2c148abba650a20b8c7eed75d3e2211e">   47</a></span>&#160;      <span class="keyword">typedef</span> E <a class="code" href="classg2o_1_1_base_edge.html#a2c148abba650a20b8c7eed75d3e2211e">Measurement</a>;</div><div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_edge.html#af5b558dd24e4be2e437563cae4b3550d">   48</a></span>&#160;      <span class="keyword">typedef</span> Matrix&lt;double, D, 1&gt; <a class="code" href="classg2o_1_1_base_edge.html#af5b558dd24e4be2e437563cae4b3550d">ErrorVector</a>;</div><div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_edge.html#a2e5a33343ac3f189d8a7d5ee4d8b73fc">   49</a></span>&#160;      <span class="keyword">typedef</span> Matrix&lt;double, D, D&gt; <a class="code" href="classg2o_1_1_base_edge.html#a2e5a33343ac3f189d8a7d5ee4d8b73fc">InformationType</a>;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;</div><div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_edge.html#a5efd0eb7e76a7f1ad723e7a5896a54d5">   51</a></span>&#160;      <a class="code" href="classg2o_1_1_base_edge.html#a5efd0eb7e76a7f1ad723e7a5896a54d5">BaseEdge</a>() : <a class="code" href="structg2o_1_1_optimizable_graph.html">OptimizableGraph</a>::Edge()</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;      {</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;        _dimension = D;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;      }</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;</div><div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_edge.html#a92a5cba950b867f9ff10b8154291087c">   56</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classg2o_1_1_base_edge.html#a92a5cba950b867f9ff10b8154291087c">~BaseEdge</a>() {}</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;</div><div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_edge.html#a8316137ded4396a2dbf7529d83888400">   58</a></span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">double</span> <a class="code" href="classg2o_1_1_base_edge.html#a8316137ded4396a2dbf7529d83888400">chi2</a>()<span class="keyword"> const </span></div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="keyword">      </span>{</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;        <span class="keywordflow">return</span> _error.dot(information()*_error);</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      }</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;</div><div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_edge.html#ad99fce6bad0207979b6211ac0d589015">   63</a></span>&#160;      <span class="keyword">virtual</span> <span class="keyword">const</span> <span class="keywordtype">double</span>* <a class="code" href="classg2o_1_1_base_edge.html#ad99fce6bad0207979b6211ac0d589015">errorData</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> _error.data();}</div><div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_edge.html#ab80452c1134036928a2af6303412a3c4">   64</a></span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">double</span>* <a class="code" href="classg2o_1_1_base_edge.html#ab80452c1134036928a2af6303412a3c4">errorData</a>() { <span class="keywordflow">return</span> _error.data();}</div><div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_edge.html#ab5a17b29aa9be942157e089bb363a46c">   65</a></span>&#160;      <span class="keyword">const</span> ErrorVector&amp; <a class="code" href="classg2o_1_1_base_edge.html#ab5a17b29aa9be942157e089bb363a46c">error</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> _error;}</div><div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_edge.html#ad0a9e3b6d5490c8f4af794c77742faae">   66</a></span>&#160;      ErrorVector&amp; <a class="code" href="classg2o_1_1_base_edge.html#ad0a9e3b6d5490c8f4af794c77742faae">error</a>() { <span class="keywordflow">return</span> _error;}</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div><div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_edge.html#a405f8d52738e557a0860b52ac67a005b">   69</a></span>&#160;      <span class="keyword">const</span> InformationType&amp; <a class="code" href="classg2o_1_1_base_edge.html#a405f8d52738e557a0860b52ac67a005b">information</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> _information;}</div><div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_edge.html#addff9120320d63504e07bfe17f1d04a7">   70</a></span>&#160;      InformationType&amp; <a class="code" href="classg2o_1_1_base_edge.html#addff9120320d63504e07bfe17f1d04a7">information</a>() { <span class="keywordflow">return</span> _information;}</div><div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_edge.html#a9bb871a94d2413ec3113a147417f2dc4">   71</a></span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_base_edge.html#a9bb871a94d2413ec3113a147417f2dc4">setInformation</a>(<span class="keyword">const</span> InformationType&amp; information) { _information = information;}</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;</div><div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_edge.html#acf02f0d69998b75b207bc102f079d5b8">   73</a></span>&#160;      <span class="keyword">virtual</span> <span class="keyword">const</span> <span class="keywordtype">double</span>* <a class="code" href="classg2o_1_1_base_edge.html#acf02f0d69998b75b207bc102f079d5b8">informationData</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> _information.data();}</div><div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_edge.html#a72ae9d215d6abc892f735e3d3ab81a88">   74</a></span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">double</span>* <a class="code" href="classg2o_1_1_base_edge.html#a72ae9d215d6abc892f735e3d3ab81a88">informationData</a>() { <span class="keywordflow">return</span> _information.data();}</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;</div><div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_edge.html#a8e890d43f491afdd035713ff176ddd5c">   77</a></span>&#160;      <span class="keyword">const</span> Measurement&amp; <a class="code" href="classg2o_1_1_base_edge.html#a8e890d43f491afdd035713ff176ddd5c">measurement</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> _measurement;}</div><div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_edge.html#a24aae7b4fc35d311158f104cfdd95aeb">   78</a></span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_base_edge.html#a24aae7b4fc35d311158f104cfdd95aeb">setMeasurement</a>(<span class="keyword">const</span> Measurement&amp; m) { _measurement = m;}</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;</div><div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_edge.html#a6776919120a8eaca8e4b9d0e6b8a421d">   80</a></span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">int</span> <a class="code" href="classg2o_1_1_base_edge.html#a6776919120a8eaca8e4b9d0e6b8a421d">rank</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _dimension;}</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;</div><div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_edge.html#a0c3d9763f1dc504627df75e0f381ca70">   82</a></span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_base_edge.html#a0c3d9763f1dc504627df75e0f381ca70">initialEstimate</a>(<span class="keyword">const</span> <a class="code" href="classg2o_1_1_hyper_graph.html#a703938cdb4bb636860eed55a2489d70c">OptimizableGraph::VertexSet</a>&amp;, <a class="code" href="classg2o_1_1_optimizable_graph_1_1_vertex.html">OptimizableGraph::Vertex</a>*)</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      {</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        std::cerr &lt;&lt; <span class="stringliteral">&quot;inititialEstimate() is not implemented, please give implementation in your derived class&quot;</span> &lt;&lt; std::endl;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      }</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <span class="keyword">protected</span>:</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;</div><div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_edge.html#af2a6ab1df6e91601b4cab23e0e99e034">   89</a></span>&#160;      Measurement <a class="code" href="classg2o_1_1_base_edge.html#af2a6ab1df6e91601b4cab23e0e99e034">_measurement</a>;</div><div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_edge.html#a49f11e3d1eaa8e666e1d4d3607279377">   90</a></span>&#160;      InformationType <a class="code" href="classg2o_1_1_base_edge.html#a49f11e3d1eaa8e666e1d4d3607279377">_information</a>;</div><div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_edge.html#af31f4b0a67bb12b4de4a32dc42467836">   91</a></span>&#160;      ErrorVector <a class="code" href="classg2o_1_1_base_edge.html#af31f4b0a67bb12b4de4a32dc42467836">_error</a>;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;</div><div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_edge.html#a069937ed6fadf557368cd0fce7ab2f59">   96</a></span>&#160;      InformationType <a class="code" href="classg2o_1_1_base_edge.html#a069937ed6fadf557368cd0fce7ab2f59">robustInformation</a>(<span class="keyword">const</span> Eigen::Vector3d&amp; rho)</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      {</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        InformationType result = rho[1] * _information;</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        <span class="comment">//ErrorVector weightedErrror = _information * _error;</span></div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        <span class="comment">//result.noalias() += 2 * rho[2] * (weightedErrror * weightedErrror.transpose());</span></div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        <span class="keywordflow">return</span> result;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      }</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  };</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;} <span class="comment">// end namespace g2o</span></div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="classg2o_1_1_base_edge_html_a24aae7b4fc35d311158f104cfdd95aeb"><div class="ttname"><a href="classg2o_1_1_base_edge.html#a24aae7b4fc35d311158f104cfdd95aeb">g2o::BaseEdge::setMeasurement</a></div><div class="ttdeci">virtual void setMeasurement(const Measurement &amp;m)</div><div class="ttdef"><b>Definition:</b> base_edge.h:78</div></div>
<div class="ttc" id="classg2o_1_1_base_edge_html_a2c148abba650a20b8c7eed75d3e2211e"><div class="ttname"><a href="classg2o_1_1_base_edge.html#a2c148abba650a20b8c7eed75d3e2211e">g2o::BaseEdge::Measurement</a></div><div class="ttdeci">E Measurement</div><div class="ttdef"><b>Definition:</b> base_edge.h:47</div></div>
<div class="ttc" id="classg2o_1_1_base_edge_html_ad99fce6bad0207979b6211ac0d589015"><div class="ttname"><a href="classg2o_1_1_base_edge.html#ad99fce6bad0207979b6211ac0d589015">g2o::BaseEdge::errorData</a></div><div class="ttdeci">virtual const double * errorData() const</div><div class="ttdoc">returns the error vector cached after calling the computeError; </div><div class="ttdef"><b>Definition:</b> base_edge.h:63</div></div>
<div class="ttc" id="classg2o_1_1_base_edge_html_a6776919120a8eaca8e4b9d0e6b8a421d"><div class="ttname"><a href="classg2o_1_1_base_edge.html#a6776919120a8eaca8e4b9d0e6b8a421d">g2o::BaseEdge::rank</a></div><div class="ttdeci">virtual int rank() const</div><div class="ttdef"><b>Definition:</b> base_edge.h:80</div></div>
<div class="ttc" id="classg2o_1_1_base_edge_html_ad0a9e3b6d5490c8f4af794c77742faae"><div class="ttname"><a href="classg2o_1_1_base_edge.html#ad0a9e3b6d5490c8f4af794c77742faae">g2o::BaseEdge::error</a></div><div class="ttdeci">ErrorVector &amp; error()</div><div class="ttdef"><b>Definition:</b> base_edge.h:66</div></div>
<div class="ttc" id="classg2o_1_1_base_edge_html_addff9120320d63504e07bfe17f1d04a7"><div class="ttname"><a href="classg2o_1_1_base_edge.html#addff9120320d63504e07bfe17f1d04a7">g2o::BaseEdge::information</a></div><div class="ttdeci">InformationType &amp; information()</div><div class="ttdef"><b>Definition:</b> base_edge.h:70</div></div>
<div class="ttc" id="classg2o_1_1_optimizable_graph_1_1_vertex_html"><div class="ttname"><a href="classg2o_1_1_optimizable_graph_1_1_vertex.html">g2o::OptimizableGraph::Vertex</a></div><div class="ttdoc">A general case Vertex for optimization. </div><div class="ttdef"><b>Definition:</b> optimizable_graph.h:127</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_html_a703938cdb4bb636860eed55a2489d70c"><div class="ttname"><a href="classg2o_1_1_hyper_graph.html#a703938cdb4bb636860eed55a2489d70c">g2o::HyperGraph::VertexSet</a></div><div class="ttdeci">std::set&lt; Vertex * &gt; VertexSet</div><div class="ttdef"><b>Definition:</b> hyper_graph.h:91</div></div>
<div class="ttc" id="classg2o_1_1_base_edge_html_a72ae9d215d6abc892f735e3d3ab81a88"><div class="ttname"><a href="classg2o_1_1_base_edge.html#a72ae9d215d6abc892f735e3d3ab81a88">g2o::BaseEdge::informationData</a></div><div class="ttdeci">virtual double * informationData()</div><div class="ttdef"><b>Definition:</b> base_edge.h:74</div></div>
<div class="ttc" id="classg2o_1_1_base_edge_html_ab5a17b29aa9be942157e089bb363a46c"><div class="ttname"><a href="classg2o_1_1_base_edge.html#ab5a17b29aa9be942157e089bb363a46c">g2o::BaseEdge::error</a></div><div class="ttdeci">const ErrorVector &amp; error() const</div><div class="ttdef"><b>Definition:</b> base_edge.h:65</div></div>
<div class="ttc" id="classg2o_1_1_base_edge_html_af2a6ab1df6e91601b4cab23e0e99e034"><div class="ttname"><a href="classg2o_1_1_base_edge.html#af2a6ab1df6e91601b4cab23e0e99e034">g2o::BaseEdge::_measurement</a></div><div class="ttdeci">Measurement _measurement</div><div class="ttdef"><b>Definition:</b> base_edge.h:89</div></div>
<div class="ttc" id="classg2o_1_1_base_edge_html_a5efd0eb7e76a7f1ad723e7a5896a54d5"><div class="ttname"><a href="classg2o_1_1_base_edge.html#a5efd0eb7e76a7f1ad723e7a5896a54d5">g2o::BaseEdge::BaseEdge</a></div><div class="ttdeci">BaseEdge()</div><div class="ttdef"><b>Definition:</b> base_edge.h:51</div></div>
<div class="ttc" id="namespace_eigen_html"><div class="ttname"><a href="namespace_eigen.html">Eigen</a></div></div>
<div class="ttc" id="classg2o_1_1_base_edge_html_acf02f0d69998b75b207bc102f079d5b8"><div class="ttname"><a href="classg2o_1_1_base_edge.html#acf02f0d69998b75b207bc102f079d5b8">g2o::BaseEdge::informationData</a></div><div class="ttdeci">virtual const double * informationData() const</div><div class="ttdoc">returns the memory of the information matrix, usable for example with a Eigen::Map&lt;MatrixXd&gt; ...</div><div class="ttdef"><b>Definition:</b> base_edge.h:73</div></div>
<div class="ttc" id="classg2o_1_1_base_edge_html_a92a5cba950b867f9ff10b8154291087c"><div class="ttname"><a href="classg2o_1_1_base_edge.html#a92a5cba950b867f9ff10b8154291087c">g2o::BaseEdge::~BaseEdge</a></div><div class="ttdeci">virtual ~BaseEdge()</div><div class="ttdef"><b>Definition:</b> base_edge.h:56</div></div>
<div class="ttc" id="classg2o_1_1_base_edge_html"><div class="ttname"><a href="classg2o_1_1_base_edge.html">g2o::BaseEdge</a></div><div class="ttdef"><b>Definition:</b> base_edge.h:42</div></div>
<div class="ttc" id="namespaceg2o_html"><div class="ttname"><a href="namespaceg2o.html">g2o</a></div><div class="ttdef"><b>Definition:</b> base_binary_edge.h:37</div></div>
<div class="ttc" id="classg2o_1_1_base_edge_html_a2e5a33343ac3f189d8a7d5ee4d8b73fc"><div class="ttname"><a href="classg2o_1_1_base_edge.html#a2e5a33343ac3f189d8a7d5ee4d8b73fc">g2o::BaseEdge::InformationType</a></div><div class="ttdeci">Matrix&lt; double, D, D &gt; InformationType</div><div class="ttdef"><b>Definition:</b> base_edge.h:49</div></div>
<div class="ttc" id="classg2o_1_1_optimizable_graph_1_1_edge_html"><div class="ttname"><a href="classg2o_1_1_optimizable_graph_1_1_edge.html">g2o::OptimizableGraph::Edge</a></div><div class="ttdef"><b>Definition:</b> optimizable_graph.h:382</div></div>
<div class="ttc" id="classg2o_1_1_base_edge_html_a8e890d43f491afdd035713ff176ddd5c"><div class="ttname"><a href="classg2o_1_1_base_edge.html#a8e890d43f491afdd035713ff176ddd5c">g2o::BaseEdge::measurement</a></div><div class="ttdeci">const Measurement &amp; measurement() const</div><div class="ttdoc">accessor functions for the measurement represented by the edge </div><div class="ttdef"><b>Definition:</b> base_edge.h:77</div></div>
<div class="ttc" id="optimizable__graph_8h_html"><div class="ttname"><a href="optimizable__graph_8h.html">optimizable_graph.h</a></div></div>
<div class="ttc" id="classg2o_1_1_base_edge_html_a405f8d52738e557a0860b52ac67a005b"><div class="ttname"><a href="classg2o_1_1_base_edge.html#a405f8d52738e557a0860b52ac67a005b">g2o::BaseEdge::information</a></div><div class="ttdeci">const InformationType &amp; information() const</div><div class="ttdoc">information matrix of the constraint </div><div class="ttdef"><b>Definition:</b> base_edge.h:69</div></div>
<div class="ttc" id="classg2o_1_1_base_edge_html_a069937ed6fadf557368cd0fce7ab2f59"><div class="ttname"><a href="classg2o_1_1_base_edge.html#a069937ed6fadf557368cd0fce7ab2f59">g2o::BaseEdge::robustInformation</a></div><div class="ttdeci">InformationType robustInformation(const Eigen::Vector3d &amp;rho)</div><div class="ttdoc">calculate the robust information matrix by updating the information matrix of the error ...</div><div class="ttdef"><b>Definition:</b> base_edge.h:96</div></div>
<div class="ttc" id="classg2o_1_1_base_edge_html_a0c3d9763f1dc504627df75e0f381ca70"><div class="ttname"><a href="classg2o_1_1_base_edge.html#a0c3d9763f1dc504627df75e0f381ca70">g2o::BaseEdge::initialEstimate</a></div><div class="ttdeci">virtual void initialEstimate(const OptimizableGraph::VertexSet &amp;, OptimizableGraph::Vertex *)</div><div class="ttdoc">set the estimate of the to vertex, based on the estimate of the from vertices in the edge...</div><div class="ttdef"><b>Definition:</b> base_edge.h:82</div></div>
<div class="ttc" id="structg2o_1_1_optimizable_graph_html"><div class="ttname"><a href="structg2o_1_1_optimizable_graph.html">g2o::OptimizableGraph</a></div><div class="ttdoc">This is an abstract class that represents one optimization problem. </div><div class="ttdef"><b>Definition:</b> optimizable_graph.h:64</div></div>
<div class="ttc" id="classg2o_1_1_base_edge_html_a9bb871a94d2413ec3113a147417f2dc4"><div class="ttname"><a href="classg2o_1_1_base_edge.html#a9bb871a94d2413ec3113a147417f2dc4">g2o::BaseEdge::setInformation</a></div><div class="ttdeci">void setInformation(const InformationType &amp;information)</div><div class="ttdef"><b>Definition:</b> base_edge.h:71</div></div>
<div class="ttc" id="classg2o_1_1_base_edge_html_ab80452c1134036928a2af6303412a3c4"><div class="ttname"><a href="classg2o_1_1_base_edge.html#ab80452c1134036928a2af6303412a3c4">g2o::BaseEdge::errorData</a></div><div class="ttdeci">virtual double * errorData()</div><div class="ttdef"><b>Definition:</b> base_edge.h:64</div></div>
<div class="ttc" id="classg2o_1_1_base_edge_html_af5b558dd24e4be2e437563cae4b3550d"><div class="ttname"><a href="classg2o_1_1_base_edge.html#af5b558dd24e4be2e437563cae4b3550d">g2o::BaseEdge::ErrorVector</a></div><div class="ttdeci">Matrix&lt; double, D, 1 &gt; ErrorVector</div><div class="ttdef"><b>Definition:</b> base_edge.h:48</div></div>
<div class="ttc" id="classg2o_1_1_base_edge_html_af31f4b0a67bb12b4de4a32dc42467836"><div class="ttname"><a href="classg2o_1_1_base_edge.html#af31f4b0a67bb12b4de4a32dc42467836">g2o::BaseEdge::_error</a></div><div class="ttdeci">ErrorVector _error</div><div class="ttdef"><b>Definition:</b> base_edge.h:91</div></div>
<div class="ttc" id="classg2o_1_1_base_edge_html_a49f11e3d1eaa8e666e1d4d3607279377"><div class="ttname"><a href="classg2o_1_1_base_edge.html#a49f11e3d1eaa8e666e1d4d3607279377">g2o::BaseEdge::_information</a></div><div class="ttdeci">InformationType _information</div><div class="ttdef"><b>Definition:</b> base_edge.h:90</div></div>
<div class="ttc" id="classg2o_1_1_base_edge_html_a8316137ded4396a2dbf7529d83888400"><div class="ttname"><a href="classg2o_1_1_base_edge.html#a8316137ded4396a2dbf7529d83888400">g2o::BaseEdge::chi2</a></div><div class="ttdeci">virtual double chi2() const</div><div class="ttdoc">computes the chi2 based on the cached error value, only valid after computeError has been called...</div><div class="ttdef"><b>Definition:</b> base_edge.h:58</div></div>
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